#include <ros/ros.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Twist.h>
//#include "p2os/p2os.h"
#include <sstream>

int main(int argc, char** argv)
{
  ros::init(argc, argv, "velsender");
  ros::NodeHandle n;
  ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("cmd_vel", 1);
  ros::Rate loop_rate(5);
  int count = 0;
while (ros::ok())
  {
   ROS_INFO("%d",count); 
   geometry_msgs::Twist msg;
    msg.linear.x = 0.2;
    msg.angular.z = 0;
    vel_pub.publish(msg);
    ROS_INFO("I published!");
    ros::spinOnce();
    loop_rate.sleep();
    ++count;
  }
}

